Aspects of the disclosure relate to methods for controlling a vehicle having an autonomous driving mode. For instance, sensor data may be received from one or more sensors of the perception system of the vehicle, the sensor data identifying characteristics of an object perceived by the perception system. When it is determined that the object is no longer being perceived by the one or more sensors of the perception system, predicted characteristics for the object may be generated based on one or more of the identified characteristics. The predicted characteristics of the object may be used to control the vehicle in the autonomous driving mode such that the vehicle is able to respond to the object when it is determined that the object is no longer being perceived by the one or more sensors of the perception system.
Legal claims defining the scope of protection, as filed with the USPTO.
2. The method of claim 1, wherein the object data is no longer stored after a threshold period of time without the object having been perceived.
4. The method of claim 1, wherein a prediction of a location of the object is based, at least in part, on a type of the object.
5. The method of claim 4, wherein the type of the object is a pedestrian, a bicyclist, or a second vehicle.
6. The method of claim 4, wherein the type of the object is a road user.
10. The vehicle of claim 9, wherein the object data is no longer stored after a threshold period of time without the object having been perceived.
11. The vehicle of claim 9, wherein the one or more processors are further configured to determine whether the object is located within a predetermined distance of a newly perceived object.
12. The vehicle of claim 9, wherein the one or more processors are further configured to predict a location of the object based, at least in part, on a type of the object.
13. The vehicle of claim 12, wherein the type of the object is a pedestrian, a bicyclist, or a second vehicle.
14. The vehicle of claim 12, wherein the type of the object is a road user.
16. The vehicle of claim 15, wherein the one or more processors are further configured to determine the field of view based on a range of the one or more sensors of the perception system.
18. The vehicle of claim 17, wherein the stored object data expires after a threshold period of time.
19. The vehicle of claim 17, wherein the one or more processors are further configured to determine whether the object is located within a predetermined distance of a newly perceived object.
20. The vehicle of claim 17, wherein the one or more processors are further configured to predict a location of the object based, at least in part, on a type of the object.
21. The vehicle of claim 20, wherein the type of the object is a pedestrian, a bicyclist, or a second vehicle.
Cooperative Patent Classification codes for this invention. Click any code to explore related patents in that topic.
March 20, 2023
September 17, 2024
Browse 5M+ US patents with plain-English claim translations and AI-generated analysis.